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An Experimental Comparison of Tradeoffs in Using Compliant Manipulators for Robotic Grasping Tasks

Sur, Sudipto and Murray, Richard M. (1996) An Experimental Comparison of Tradeoffs in Using Compliant Manipulators for Robotic Grasping Tasks. California Institute of Technology . (Unpublished) http://resolver.caltech.edu/CaltechCDSTR:1996.CIT-CDS-96-015

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Use this Persistent URL to link to this item: http://resolver.caltech.edu/CaltechCDSTR:1996.CIT-CDS-96-015

Abstract

Controllers developed for control of flexible-link robots in hybrid force-position control tasks by a new singular perturbation analysis of flexible manipulators are implemented on an experimental two-robot grasping setup. Performance criteria are defined for the grasping task. We present preliminary experimental data to show the tradeoffs between controller complexity and performance enhancement as we deal with greater flexibility. Various performance criteria are set up and experimental results are discussed within that setting. We conclude that large flexibility can be controlled and can lead to reasonable performances.


Item Type:Report or Paper (Technical Report)
Group:Control and Dynamical Systems Technical Reports
Record Number:CaltechCDSTR:1996.CIT-CDS-96-015
Persistent URL:http://resolver.caltech.edu/CaltechCDSTR:1996.CIT-CDS-96-015
Usage Policy:You are granted permission for individual, educational, research and non-commercial reproduction, distribution, display and performance of this work in any format.
ID Code:28010
Collection:CaltechCDSTR
Deposited By: Imported from CaltechCDSTR
Deposited On:15 Oct 2002
Last Modified:26 Dec 2012 14:28

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